1. Environmental and Chemical Engineering Research Unit, Control Engineering Group, University of Oulu, P.O. Box 4300, 90014 Oulu, Finland
2. Insta Advance Oy, Sarankulmankatu 20, 33900 Tampere, Finland
3. Process Metallurgy Research Unit, Faculty of Technology, University of Oulu, P.O. Box 4300, 90014 Oulu, Finland